JP5035842B2 - Navigation device - Google Patents

Description

  The present invention relates to a navigation device that is mounted on a vehicle and displays a map image.

  The navigation device detects the position and direction of the vehicle by GPS or the like. Then, map data corresponding to the position of the vehicle is read from a map data recording medium such as a hard disk, a CD-ROM, a DVD-ROM or the like on which a large amount of map data is recorded, and a map around the vehicle position is based on this map data. The image is displayed on the display device, the vehicle position mark is superimposed and displayed, and further, the map image is scrolled according to the movement of the vehicle so that the user can grasp the position of the vehicle. It has become.

  In addition, the navigation device has a route guidance function that allows the user to easily travel to the destination without making a mistake on the road. In this route guidance function, a guidance route having the lowest link cost from the starting point to the destination is searched using map data, and the searched route is stored as a guidance route. While the vehicle is running, the guidance route is drawn thickly on the map image with a different color from other roads, or the vehicle approaches within a predetermined distance from the intersection where the route on the guidance route should be changed. Sometimes, the vehicle is guided to the destination by displaying an arrow indicating a course at an intersection where the route on the map image should be changed.

Further, the navigation device displays a U-turn mark when there is a road having a median in the searched guidance route and when the road is turned from one lane to the other lane. There are some which perform guidance for prompting the driver to make a U-turn by displaying on the display (for example, see Patent Document 1).
JP-A-10-227649

  In the conventional navigation apparatus, in order to guide the U-turn, as shown in FIG. 9, the node record of the node 311 at the tip of the link 301 corresponding to one lane of the road having the median strip, and the other It is necessary to include information about U-turn guidance (U-turn guidance information) in both the node record of the node 312 at the tip of the link 302 corresponding to the lane. Therefore, when there is no U-turn guidance information in the node record of at least one node due to data leakage or the like, the U-turn guidance is not provided even if the U-turn is actually possible.

  Also, for example, when the median strip is wide, do not make a U-turn, but make a right turn or a left turn twice to change the direction of travel from one lane of the road with the median strip to the other travel direction. In this case, guidance will be given as a U-turn, which may be confusing to the driver.

  An object of the present invention is to solve the above-described problems, and to provide a navigation device capable of appropriately performing U-turn guidance.

A navigation device mounted on a vehicle according to the present invention for guiding a vehicle by searching for a guidance route to a destination is included in the guidance route information acquisition means for acquiring information on the guidance route, and the guidance route. Based on the road information acquisition means for acquiring the road information of each road, the guide route information acquired by the guide route information acquisition means, and the road information acquired by the road information acquisition means, A first lane and a second lane whose traveling directions are opposite to each other on a lane road, and a connection road connecting the first lane and the second lane, the first lane, the connection road, The guidance route determination means for determining whether or not the vehicle passes in the order of the second lane, and the guidance route determination means determines that the guidance route is the first lane, the connection road, and the second lane. Lane order When it is determined that the vehicle passes, a condition determination unit that determines whether or not the connection road satisfies a predetermined condition, and the condition determination unit determines that the connection road satisfies a predetermined condition If, possess a route guidance means for performing route guidance to the effect that performs the U-turn, the road information includes information extending length of the connecting road, the condition judging means, extending the connecting road It is determined whether the distance is equal to or less than a predetermined length, and the route guidance unit performs the U-turn when the condition determination unit determines that the extension distance of the connection road is equal to or less than a predetermined length. It is characterized by performing route guidance to that effect .

  According to this configuration, the second road from the first lane through the connection road only when the connection road connecting the first and second lanes whose traveling directions are opposite in the guidance route satisfies the predetermined condition. When turning back to the lane, route guidance for performing a U-turn is performed. Therefore, the guidance can be performed only when it is appropriate to perform the guidance for the U-turn.

If the extension length of the connecting road is equal to or shorter than the predetermined length, it is assumed that the U-turn returns from the first lane to the second lane, and appropriate guidance is provided by performing route guidance to that effect. It becomes possible.

The navigation device according to the present invention, the route guidance unit, if the extending distance of the connecting road is determined to exceed the predetermined length by the condition judging means, the connecting road and the first lane Route guidance may be made to make a turn at a connection point between the second lane and the connection point of the connection road.

  According to this configuration, when the extension length of the connection road is equal to or shorter than the predetermined length, the second lane is turned back from the first lane to the second lane by the right turn or the left turn instead of the U-turn. As a matter of course, it is possible to provide appropriate guidance by performing route guidance to that effect.

  According to the present invention, only when the connecting road satisfies the predetermined condition, the route guidance for performing the U-turn is performed when turning back from the first lane to the second lane via the connecting road. Thus, it is possible to appropriately guide the U-turn.

  Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings. FIG. 1 is a diagram showing a configuration of a navigation device to which the navigation device of the present invention is applied. A navigation device 100 shown in FIG. 1 is mounted on a vehicle, and includes a main body 10, a hard disk drive (HDD) 20, an operation unit 30, a VICS reception unit 40, a GPS reception unit 50, an autonomous navigation sensor 60, a display 70, and a speaker 80. Consists of.

  The HDD 20 is equipped with a hard disk 22 and reads map data recorded on the hard disk 22. The map data recording medium is not limited to the hard disk 22, and may be a DVD, a CD-ROM, or the like, and a drive corresponding to the recording medium is prepared. The map data is provided for each rectangular area called a figure leaf and specified by the longitude and latitude of the four corners. The map data for each leaf includes image data corresponding to the leaf.

  Further, the map data for each figure includes road information of the road included in the figure. FIG. 2 is a diagram illustrating an example of road information. A road is represented by a start point and an end point (node) and a straight line (road link) connecting these nodes. The road information includes a node record shown in FIG. 2 (a) and a link record shown in FIG. 2 (b). The node record shown in FIG. 2A is provided for each node. The node number, which is identification information of the node, the coordinates (longitude and latitude) of the node, and a link at which the node is an end portion. And a connection link number that is identification information of (connection link). On the other hand, the link record shown in FIG. 2B is provided for each road link. In the present embodiment, the traveling direction is composed of lanes facing each other. For example, in the case of a two-lane road having a median strip, a road link is associated with each of the lane in one traveling direction and the lane in the other traveling direction. In addition, a link record is provided for each lane according to the traveling direction.

  The link record includes a link number that is identification information of the corresponding road link, an attribute of the road link, a start node number that is identification information of a node that is the start point of the road link, and an end point of the road link. It includes an end node number which is node identification information. With these node records and link records, it is possible to specify the position of a road composed of two nodes, a start point and an end point, and a road link connecting these nodes.

  FIG. 3 is a diagram illustrating an example of a link attribute. The link attributes shown in FIG. 3A include a general road / highway identification flag, a two-lane road flag, an oncoming lane link number, and a link length. The general road / highway identification flag is information indicating whether the road link is a general road or a highway. The two-line road flag is information indicating whether the road link is a lane in one traveling direction on the two-line road. The opposite lane link number is the link number of the road link corresponding to the lane in the traveling direction facing the lane when the road link is a lane in one traveling direction on the Nijo line road. The link length is information indicating the extension distance of the connection road when the road link corresponds to the connection road.

  Again, returning to FIG. The operation unit 30 includes an operation button, a joystick, and the like (not shown), and is operated by the user in setting a destination when searching for a guidance route. The VICS receiving unit 40 receives VICS information including traffic information transmitted from a radio wave beacon or an optical beacon, or multiplexed and transmitted in FM broadcasting. The VICS information is updated and transmitted at a predetermined cycle such as an interval of 5 minutes.

  The GPS receiver 50 receives GPS signals from GPS satellites necessary for detecting the position of the vehicle. The autonomous navigation sensor 60 includes a gyro and the like for detecting the traveling direction of the vehicle, and a distance sensor that generates a pulse (vehicle speed pulse) at every constant travel distance.

  The main body 10 includes a control unit 102, a buffer memory 104, a map drawing unit 106, an operation screen / mark generation unit 108, a guidance route storage unit 110, a guidance route drawing unit 112, a traffic information drawing unit 114, a guidance unit 116, and an image composition unit. 118.

  The control unit 102 is configured by a CPU or the like, and controls the entire navigation device 100. Specifically, the control unit 102 determines the position and speed of the vehicle based on the GPS signal received by the GPS receiving unit 50, the traveling direction of the vehicle detected by the autonomous navigation sensor 60, and the output interval of the vehicle speed pulse. calculate. Further, the control unit 102 instructs the HDD 20 to read the map data recorded on the hard disk 22. The map data read by the HDD 104 in response to an instruction from the control unit 102 is stored in the buffer memory 104. The map drawing unit 106 reads the map data stored in the buffer memory 104 and draws a map image corresponding to the screen of the display 70 based on the map data.

  Further, the control unit 102 issues an image drawing instruction to the operation screen / mark generation unit 108 in accordance with the operation of the operation unit 30 by the user and the operation state of the navigation device 10. In response to this instruction, the operation screen / mark generation unit 108 draws various menu screens, a vehicle position mark, and an image of the cursor position.

  Further, the control unit 102 reads the map data stored in the buffer memory 104 in response to an operation of the operation unit 30 for searching for a guidance route by the user, and based on the map data, a predetermined route search algorithm, for example, Then, using a simulation calculation such as a horizontal search method or a Dijkstra method, a guide route having the lowest link cost from the starting point to the destination is searched. Information on the guide route is stored in the guide route storage unit 110.

  FIG. 4 is a diagram illustrating an example of the guidance route, and FIG. 5 is a diagram illustrating an example of the guidance route information. As shown in FIG. 4, when a guide route that should pass through nodes of node numbers # 1, # 5, # 3, # 8, and # 7 in this order from the departure point to the destination is searched for in FIG. As shown in FIG. 6, in the guidance route information, the node information on the guidance route configured by associating the node numbers of these nodes with the node coordinates is arranged in the order of passage.

  Again, returning to FIG. The guide route drawing unit 112 generates a guide route image based on the guide route information stored in the guide route storage unit 110.

  In addition, the control unit 102 instructs the traffic information drawing unit 114 to select an image mode corresponding to the traffic information indicated by the VICS information received by the VICS receiving unit 40. The traffic information drawing unit 114 draws an image corresponding to the traffic information in a mode corresponding to this instruction.

  In addition, the control unit 102 calculates the position of the vehicle during route guidance based on the guidance route information, and based on the vehicle position, the guidance route information and the road information, the vehicle position and the turning point on the guidance route, Is determined to be within a predetermined distance. When the vehicle position and the turning point on the guide route are within a predetermined distance, the control unit 102 determines whether or not the guide route turns the two-lane road at the turning point. When the guidance route needs to be turned back, the control unit 102 further determines whether or not the extension distance of the connection road is equal to or less than a predetermined length and whether or not the connection road is a U-turn road. When the extension distance of the connection road is equal to or shorter than the predetermined length, the control unit 102 instructs the guide unit 116 to perform the U-turn guidance. On the other hand, when the extension distance of the connection road exceeds the predetermined length, the control unit 102 instructs the guide unit 116 to guide the turn twice. The guide unit 116 draws an image corresponding to the guidance of the U-turn or the guidance of the second turn according to the instruction of the control unit 102. Further, the guide unit 116 generates a sound corresponding to the guidance of the U-turn or the guidance of the second turn according to the instruction of the control unit 102 and outputs the sound from the speaker 80.

  Further, the control unit 102 instructs the image composition unit 118 to perform image composition in accordance with the operation of the operation unit 30 by the user and the operation state of the navigation device 100. In response to this instruction, the image synthesis unit 118 appropriately synthesizes various images drawn by the map drawing unit 106, the operation screen / mark generation unit 108, the guidance route drawing unit 112, the traffic information drawing unit 114, and the guide unit 116. The obtained image is displayed on the display 70.

  In addition, the control unit 102 generates sound according to the operation of the operation unit 30 by the user and the operation state of the navigation device 100, and causes the speaker 80 to output the sound via the guide unit 116.

  In the present embodiment, the control unit 102 corresponds to a guidance route information acquisition unit, a road information acquisition unit, a guidance route determination unit, and a condition determination unit, and the guide unit 116 corresponds to a route guidance unit.

  Next, details of guidance at the time of turning back on a two-lane road by route guidance in the navigation device 100 will be described. FIG. 6 is a flowchart showing a guidance operation at the time of turning back on a two-straight road in the navigation device 100.

When starting the route guidance, the control unit 102 reads the guidance route information stored in the guidance route storage unit 110 (S101). Further, the control unit 102 acquires the GPS signal received by the GPS receiving unit 50, the traveling direction of the vehicle and the vehicle speed pulse detected by the autonomous navigation sensor 60, and calculates the vehicle position based on these (S102). ).

  Next, the control unit 102 specifies a predetermined range centered on the vehicle position calculated in S102 to the HDD 20 as a map data reading range. Here, the readout range is a circular area centered on the vehicle position, and is uniquely specified by the longitude and latitude of the vehicle position and the radius. Further, the control unit 102 notifies the HDD 20 of the longitude, latitude, and radius of the vehicle position that uniquely specifies the reading range, and instructs the reading of the map data included in the reading range. In response to this instruction, the HDD 20 compares the read range with the longitude and latitude of the four corners of each leaf in the map data for each leaf. Further, the HDD 20 identifies a leaf whose entire or part of the reading range is included, and reads map data corresponding to the leaf from the hard disk 22. The read map data is stored in the buffer memory 104. The control unit 102 reads and acquires road information included in the map data stored in the buffer memory 104 (S103).

  Next, the control unit 102 determines whether or not the vehicle position and the turning point on the guidance route are within a predetermined distance (for example, within 700 m) (S104). Here, the control unit 102 specifies the node identified by the node number included in the guidance route information, in other words, the node on which the vehicle has passed the latest (the latest passed node) among the nodes on the guidance route. . Specifically, the control unit 102 compares the vehicle position with the node coordinates in the node information on each guidance route included in the guidance route information at any time, and when the vehicle position matches one of the node coordinates. Specifies the node information on the guide route including the node coordinates as the node information on the guide route corresponding to the latest passed node.

  Then, the control unit 102, in the guidance route information, does not pass the guidance route node information arranged after the guidance route node information corresponding to the latest passed node at the present time and should pass through the node ( It is specified as node information on the guide route corresponding to (non-passing node). For example, as shown in FIG. 7, a guidance route (thick line) composed of road links 201, 202, and 203 that pass through nodes 210, 211, 212, and 213 in this order is set, and the vehicle position 200 is Consider a case where a link 201 exists between the two. In this case, the latest passed node is the node 210, and the non-passed nodes are the nodes 211, 212, and 213.

  Further, the control unit 102 specifies the arrangement of the latest passed node and the non-passed node based on the node coordinates in the node information on the guidance route corresponding to each of the latest passed node and the non-passed node, and sets the arrangement. Based on this, it is determined whether or not there is a node serving as a turning point among the non-passing nodes. For example, in FIG. 7, the road link 201 that connects the node 210 that is the latest passed node and the node 211 that is the non-passing node, and the road link that connects the node 211 that is the non-passing node and the node 212 that is the non-passing node. 202 intersects with an angle of 90 degrees. In this case, the control unit 102 determines that the node 212 is a node that is a turning point.

  If there is a non-passing node (bending point node) serving as a turning point, then the control unit 102 calculates a distance along the guidance route from the vehicle position to the turning point node. This distance is calculated based on the vehicle position and the node coordinates in the node information on the guidance route corresponding to each node from the vehicle position to the turning point node included in the guidance route information. For example, in FIG. 7, the distance between the vehicle position 200 and the node 211 that is the turning point node is calculated. Further, the control unit 102 determines whether or not the calculated distance is within a predetermined distance. When there are a plurality of bending point nodes, the control unit 102 identifies a bending point node that should be passed first among the plurality of bending point nodes. Then, the control unit 102 calculates the distance along the guidance route between the vehicle position and the specified turning point node.

  When the vehicle position and the turning point on the guidance route are not within the predetermined distance, the operation after the acquisition of the vehicle position (S102) is repeated again. On the other hand, when the vehicle position and the turning point on the guide route are within a predetermined distance, the control unit 102 changes the turning point at the turning point from the lane in one traveling direction to the lane in the other traveling direction on the Nijo Line road. It is determined whether or not it is a return (S105).

  Specifically, the control unit 102 specifies in the guide route information the node information on the guide route that is arranged one before, one after, and two after the node information on the guide route corresponding to the turning point node. To do. The guidance route node information arranged immediately before the guidance route node information corresponding to the turning point node is the guidance route node of the node (previous node) that passes one turn point before the turning point node in the guidance route. Information. In addition, the guide route node information arranged after the guide route node information corresponding to the turn point node is the guide route of the node (first post node) that passes after the turn point node in the guide route. The node information on the guide route that is the upper node information and is placed two times after the node information on the guide route corresponding to the turn point node is a node (second post node) that passes after the turn point node in the guide route. ) Node information on the guidance route. For example, in FIG. 7, the node that passes immediately before the turning point node 211 is the node 210, the node that passes after it is the node 212, and the node that passes after it is the node 213.

  Next, in the link record in the road information acquired in S103, the control unit 102 matches the node number in the guide route node information corresponding to the previous node in the link record in the road information, and the end node number is the turning point node. That match the node number in the node information on the guidance route corresponding to is extracted. The extracted link record corresponds to a road link having the previous node as a start point node and the turning point node as an end point node in the guidance route. Furthermore, the control unit 102 determines whether or not the double road flag included in the link attribute in the extracted link record indicates that the corresponding road link is a lane in one traveling direction on the double road. To do.

  If the two-way road flag does not indicate that the corresponding road link is a lane in one direction of the two-way road, the previous node is set as the start node and the turn point node is set as the end node in the guide route. The road link is not a lane in one traveling direction of the Nijo Line road, and a negative determination is made in S105.

  On the other hand, when the Nijo Line road flag indicates that the corresponding road link is a lane in one of the traveling directions on the Nijo Line road, the previous node is set as the start node and the turn point node is set as the end node in the guide route. The road link is a lane in one traveling direction of the Nijo Line road. In this case, the control unit 102 extracts the oncoming lane link number included in the link attribute in the extracted link record. Furthermore, the control part 102 extracts the thing containing the extracted oncoming lane link number among the link records in the road information acquired in S103.

  Next, the control unit 102 matches the node number in the node information on the guidance route corresponding to the first rear node with the start point node number in the extracted link record, and the end node number corresponds to the second rear node. It is determined whether or not it matches the node number in the node information on the guidance route. If they do not match, a negative determination is made in S105 instead of turning back on the Nijo road.

  On the other hand, the start node number in the extracted link record matches the node number in the guide route node information corresponding to the first post node, and the end node number corresponds to the second post node in the guide route node information. If it matches the node number in the guide route that sequentially passes the front node, the turning point node, the first rear node and the second rear node, after traveling in the lane of one traveling direction of the two-way road, The other lane in the traveling direction is folded back. In this case, a positive determination is made in S105.

  If a negative determination is made in S105, the operations after the acquisition of the vehicle position (S102) are performed again. However, the control unit 102 instructs the guide unit 116 to perform normal intersection guidance that prompts a right or left turn. The guidance unit 116 draws an intersection guidance image and generates a sound. The intersection guidance image is appropriately combined with another image by the image combining unit 118 and displayed on the display 70. On the other hand, the intersection guidance sound is output from the speaker 80.

  On the other hand, when an affirmative determination is made in S105, the control unit 102 next determines whether or not the extension distance of the connecting road is equal to or shorter than a predetermined length (for example, 10 m or shorter) (S106). Specifically, the control unit 102 specifies the extension distance of the connection road based on the link length included in the link attribute in the link record corresponding to the connection road extracted in S106, and the extension distance is equal to or less than the predetermined length. It is determined whether or not. In FIG. 7, the length d of the road link 202 corresponding to the connection road is the extension distance.

  When the extension distance of the connecting road is equal to or less than the predetermined length, the control unit 102 then makes a U-turn that sequentially passes through the turning point node, the first rear node, and the second rear node with respect to the guide unit 116. Instructs to the effect (U-turn guidance). In response to this instruction, the guide unit 116 draws an image of U-turn guidance and generates sound. The U-turn guidance image is appropriately combined with another image by the image combining unit 118 and displayed on the display 70. On the other hand, the U-turn guidance voice is output from the speaker 80 (S107). For example, as shown in FIG. 8, an image 222 that prompts a U-turn is displayed on the display 70 together with a map image 220 around the vehicle position. Thereafter, the operations after the vehicle position calculation (S102) are repeated.

  On the other hand, when it is determined in S107 that the extension distance of the connecting road exceeds the predetermined length, the control unit 102 then makes a turn at each of the turn point node and the first rear node with respect to the guide unit 116. Instruct the guidance to perform (twice turn guidance). In response to this instruction, the guide unit 116 draws an image of twice bending guidance and generates a sound. The image of the twice turn guide is appropriately combined with another image by the image combining unit 118 and displayed on the display 70. On the other hand, the sound of the second turn guidance is output from the speaker 80 (S108). Thereafter, the operations after the vehicle position calculation (S102) are repeated.

  As described above, in the present embodiment, the guide route information and the road information corresponding to the roads around the vehicle position are acquired, and based on these, the lanes whose traveling directions are opposite to each other on the two-lane road are determined based on the connected roads. It is determined whether or not the information is to be folded back. In the case of turn-back, if the extension distance of the connecting road is less than or equal to the predetermined length, guidance is given to make a U-turn, and guidance is given to make two turns in other cases. The U-turn guidance can be performed appropriately.

  As described above, the navigation device according to the present invention can appropriately guide the U-turn and is useful as a navigation device.

It is a figure which shows the structure of a navigation apparatus. It is a figure which shows an example of road information. It is a figure which shows an example of a link attribute. It is a figure which shows an example of a guidance path | route. It is a figure which shows an example of guidance route information. It is a flowchart which shows the guidance operation | movement at the time of the return | turnback on a Nijosen road. It is a figure for demonstrating the route guidance of this embodiment. It is a figure which shows an example of a guidance image. It is a figure for demonstrating the conventional route guidance.

Explanation of symbols

10 Main body 20 Hard disk drive (HDD)
DESCRIPTION OF SYMBOLS 22 Hard disk 30 Operation part 40 VICS receiving part 50 GPS receiving part 60 Autonomous navigation sensor 70 Display 80 Speaker 100 Navigation apparatus 102 Control part 103 Clock 104 Buffer memory 106 Map drawing part 108 Operation screen and mark generation part 110 Guidance path memory | storage part 112 Guidance Route drawing unit 114 Traffic information drawing unit 116 Guide unit 118 Image composition unit

Claims (2)

A navigation device mounted on a vehicle and for guiding the vehicle by searching for a guidance route to a destination,
Guidance route information acquisition means for acquiring information of the guidance route;
Road information acquisition means for acquiring road information of each road included in the guidance route;
Based on the guidance route information acquired by the guidance route information acquisition unit and the road information acquired by the road information acquisition unit, the first lane and the first lane of which the direction of travel is opposite on the two-lane road Pass through a second lane and a connecting road connecting the first lane and the second lane in the order of the first lane, the connecting road, and the second lane. Guiding route determination means for determining whether or not
When it is determined by the guidance route determination means that the guidance route passes in the order of the first lane, the connection road, and the second lane, the connection road is set to a predetermined condition. Condition determination means for determining whether or not the condition is satisfied;
When said connecting road is determined that the predetermined condition is satisfied, possess a route guidance means for performing route guidance to the effect that performs the U-turn by the condition judging means,
The road information includes information on an extension distance of the connecting road,
The condition determining means determines whether or not the extension distance of the connecting road is a predetermined length or less,
The navigation apparatus according to claim 1, wherein the route guidance unit performs route guidance to make the U-turn when the condition determination unit determines that the extension distance of the connection road is a predetermined length or less . The route guidance unit, when extending distance of the connecting road is determined to exceed the predetermined length by the condition determining means, said first lane and the connection point between the connecting road, the second The navigation apparatus according to claim 1 , wherein route guidance is performed to make a turn at a lane and a connection point of the connection road.

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